CN209846698U - Goods shelf robot - Google Patents
Goods shelf robot Download PDFInfo
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- CN209846698U CN209846698U CN201920346402.5U CN201920346402U CN209846698U CN 209846698 U CN209846698 U CN 209846698U CN 201920346402 U CN201920346402 U CN 201920346402U CN 209846698 U CN209846698 U CN 209846698U
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Abstract
The utility model relates to a goods shelves robot, include: the top of the display shelf is provided with an RGBD camera; the robot chassis is connected below the display shelf and comprises a power assembly, and the power assembly comprises at least two moving wheels and a driving motor for driving the moving wheels; the navigation obstacle avoidance detection device is arranged on the robot chassis and/or the display goods shelf and used for planning a driving route and avoiding obstacles and comprises a laser radar, an ultrasonic ranging sensor and a collision detection belt, wherein the collision detection belt surrounds the robot chassis and/or the display goods shelf and protrudes outwards. The RGBD camera can assist navigation and obstacle avoidance, perform human-computer interaction, and can realize analysis of consumption and purchase behaviors; the navigation obstacle avoidance detection device is arranged, and the laser radar, the ultrasonic ranging sensor and the collision detection belt can perform multi-azimuth and multi-dimensional detection to perform route planning navigation and obstacle avoidance; the anti-toppling IMU sensor can detect the acceleration and deceleration state and the posture of the robot and can avoid a steep slope path.
Description
Technical Field
The utility model relates to the technical field of robot, especially, relate to a goods shelves robot.
Background
With the development of the robot technology, the functions of the robot are more and more. The landing application of the robot technology in various fields is increasing, and the robot technology also starts to rapidly move to the life of people, such as restaurant robots, cafe robots, hotel guest greeting robots and the like.
Through market research, the company focuses on the service in a supermarket scene, the existing supermarket shelf adopts a head stacking mode, only goods can be statically displayed, and only sales promoters need to be equipped to carry out interactive interaction with customers, so that the cost is high, and the effect is not ideal. Meanwhile, a sensor for collecting data is lacked, and dynamic data of supermarket scene consumers cannot be precipitated.
The development of a movable shelf robot is promising, but a general robot cannot adapt to a supermarket, which is a scene with huge pedestrian volume, and is easy to collide when moving. However, obviously, the robot has poor flexibility and low interactivity.
SUMMERY OF THE UTILITY MODEL
In view of the above, it is necessary to provide a shelf robot capable of performing navigation and obstacle avoidance.
In order to solve the technical problem, the utility model discloses a technical scheme be: a racking robot comprising: the top of the display shelf is provided with an RGBD camera; the robot chassis is connected below the display shelf and comprises a power assembly, and the power assembly comprises at least two moving wheels and a driving motor for driving the moving wheels; the navigation obstacle avoidance detection device is arranged on the robot chassis and/or the display goods shelf and is used for planning a driving route and avoiding obstacles, and comprises a laser radar for detecting far and near obstacles, an ultrasonic ranging sensor for detecting near obstacles and a collision detection belt for detecting collision contact, wherein the collision detection belt surrounds the robot chassis and/or the display goods shelf and protrudes outwards; and the anti-toppling IMU sensor is used for detecting acceleration, deceleration and posture of the robot.
Furthermore, the top of the display shelf far away from the robot chassis is also provided with at least one multimedia display screen.
Furthermore, a sound box is also mounted on the robot chassis and/or the display shelf.
Further, the interval height of the collision detection belt is provided in plurality.
Further, show goods shelves are separated for the multilayer by the shelf plate, the shelf plate middle part is equipped with the trepanning, on the robot chassis to show goods shelves direction extend have with the support column of trepanning looks adaptation, the shelf plate cover is established and is fixed on the support column.
Further, the width or the diameter of the goods shelf board gradually narrows along the support columns towards the direction far away from the robot chassis, and the display goods shelf is tower-shaped.
Furthermore, be equipped with the line hole in the support column, use on the support the shelf plate is provided with a plurality of jacks for the interval.
Further, a microphone array sensor for acoustic localization and voice interaction is also included.
Further, the device also comprises an infrared distance measuring sensor for detecting ground obstacles and steps.
Further, still including the automatic auxiliary assembly that charges, including setting up infrared signal receiving device array on the robot chassis and setting up the infrared signal transmitter on filling electric pile cooperate the assistance-localization real-time ultrasonic ranging sensor and the signal of telecommunication after the contact circular telegram carry out the automation and charge.
The beneficial effects of the utility model reside in that: the RGBD camera is arranged at the top of the display shelf, so that the visual field is wide, the goods condition can be detected, meanwhile, the RGBD camera can assist navigation and obstacle avoidance, man-machine interaction is performed, information such as gender, age group and goods purchase of a consumer can be further analyzed, the consumption and purchase behavior can be analyzed, and the goods category can be conveniently set and potential customers can be conveniently searched; the navigation obstacle avoidance detection device is arranged, the laser radar, the ultrasonic ranging sensor and the collision detection belt can perform multi-azimuth and multi-dimensional detection, route planning navigation and obstacle avoidance are performed, and therefore the power assembly is guided to move; prevent empting IMU sensor, can detect the acceleration and deceleration state and the gesture of robot, avoid the too big or gesture slope of robot acceleration to empty and lead to the goods to drop, can avoid the abrupt slope route to plan again.
Drawings
Fig. 1 is a schematic structural diagram of a shelf robot according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a laser radar of a shelf robot according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a charging assembly of a shelf robot according to an embodiment of the present invention;
fig. 4 is a structural schematic diagram of an infrared distance measuring sensor of a shelf robot according to an embodiment of the present invention.
Description of reference numerals:
100. a display shelf; 110. an RGBD camera; 120. a multimedia display screen; 130. a shelf board;
131. a baffle plate; 140. a support pillar; 141. a jack; 200. a robot chassis;
211. a moving wheel; 212. a universal driven wheel; 220. a socket; 310. a laser radar;
320. an ultrasonic ranging sensor; 330. a collision detection zone; 340. a microphone array sensor;
350. an infrared ranging sensor; 360. an array of infrared signal receiving devices; 370. a status display screen;
400. charging piles; 410. an infrared signal transmitter; 420. a plug; 421. and energizing the contacts.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the following description, with reference to the accompanying drawings and embodiments, will explain in further detail the present invention. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention.
Referring to fig. 1 to 4, a shelf robot includes: the display shelf 100 is provided with an RGBD camera 110 at the top of the display shelf 100; the robot chassis 200 is connected below the display shelf 100, and the robot chassis 200 comprises a power assembly which comprises at least two moving wheels 211 and a driving motor for driving the moving wheels 211; the navigation obstacle avoidance detection device is arranged on the robot chassis 200 and/or the display shelf 100 and is used for planning a driving route and avoiding obstacles, and comprises a laser radar 310 for detecting far and near obstacles, an ultrasonic ranging sensor 320 for detecting near obstacles and a collision detection belt 330 for detecting collision contact, wherein the collision detection belt 330 surrounds the robot chassis 200 and/or the display shelf 100 and protrudes outwards; and the anti-toppling IMU sensor is used for detecting acceleration, deceleration and posture of the robot.
The RGBD camera 110 is arranged at the top of the display shelf 100, so that the visual field is wide, the goods condition can be detected, meanwhile, the RGBD camera 110 can assist navigation and obstacle avoidance, man-machine interaction is performed, information such as gender, age group and goods purchase of consumers can be further analyzed, the consumption and purchase behavior can be analyzed, the goods category can be conveniently set, and potential customers can be conveniently searched; the navigation obstacle avoidance detection device is arranged, the laser radar 310, the ultrasonic ranging sensor 320 and the collision detection belt 330 can perform multi-azimuth and multi-dimensional detection, route planning navigation and obstacle avoidance are performed, and therefore the power assembly is guided to move; prevent empting IMU sensor, can detect the acceleration and deceleration state and the gesture of robot, avoid the too big or gesture slope of robot acceleration to empty and lead to the goods to drop, can avoid the abrupt slope route to plan again.
RGBD, Depth image processing, integrates RGB color mode and Depth Map.
An IMU: the Inertial measurement unit is a device for measuring the three-axis attitude angle (or angular velocity) and acceleration of an object. Generally, the anti-toppling IMU sensor is arranged far away from magnetic objects such as a motor and the like, so that the detection precision is prevented from being influenced. Typically, the anti-tip IMU sensor is located in the middle of the robot chassis 200.
Whether a consumer has shopping behavior can be generally judged through the RGBD camera 110, the ultrasonic ranging sensor 320 or the laser radar 310, and when the robot detects that the consumer is shopping, the shelf robot decelerates or stops moving. Preferably, the shelf robot is further provided with a motion stop button, when the robot is in an accident or has a potentially dangerous behavior, the shelf robot can be actively stopped from moving, and only the rotary motion stop button is needed to stop the robot from moving to recover the robot from moving. Preferably, the movement stop button is located 20-170CM from the ground on the robot chassis 200 or on the display shelf 100 or near the multimedia display screen.
Referring to fig. 4, preferably, the infrared distance measuring sensor 350 is disposed outside the contact point of the moving wheel 211 and the ground and perpendicular to the ground for detecting, so as to determine the ground condition in advance. Preferably, the infrared ranging sensor 350 array is provided in plurality around the robot body. Preferably, at least 3 infrared distance measuring sensors 350 are provided. Preferably, 4 to 8. Preferably, the infrared distance measuring sensor 350 is provided on a chassis of the robot body on which the moving wheel 211 is mounted. Preferably, the infrared distance measuring sensor 350 is 3cm-10cm from the ground.
Preferably, the collision detection belt 330 includes a conductive collision layer, an insulating air isolation layer and an inner conductive layer, the conductive collision layer has elasticity, the conductive collision layer and the inner conductive layer are connected in an insulating manner to form the insulating air isolation layer by having a sealed cavity filled with insulating air, the conductive collision layer is far away from the robot body, and the conductive collision layer deforms to penetrate through the insulating air isolation layer and communicates with the inner conductive layer and sends an electric signal.
The conductive collision layer is deformed and is communicated with the inner conductive layer to be electrified, and an electric signal is sent.
Preferably, the collision detection belt 330 further includes a support frame, the conductive collision layer and the support frame are connected to form a hollow strip-shaped body with a sealed cavity, the inner conductive layer is attached to one surface of the support frame facing the conductive collision layer, an isolation gap is formed between the outer conductive layer and the inner conductive layer, and the support frame is made of an insulating material. Or the conductive collision layer and the inner conductive layer are connected through an insulating material to form a hollow strip-shaped body with a sealed cavity. Preferably, the conductive collision layer is flexible conductive rubber; alternatively, the conductive bump layer includes an outer layer made of a flexible material and an inner layer made of a conductive material fixed to the outer layer.
Preferably, the collision detecting belt 3302 is a plurality of arc-shaped strips connected to form a substantially ring shape. The robot chassis 200 or the display shelf 100 is surrounded by a plurality of arc-shaped bars, which facilitates installation. It can be understood that the robot body can be arranged in any shape such as a ring shape, a rectangle shape, other polygons and the like according to the shape of the robot body.
Preferably, the moving wheels 211 are independently suspended. Preferably, a plurality of universally driven wheels 212 are also included.
Referring to fig. 1, the display shelf 100 is further provided with at least one multimedia display screen 120 on the top thereof away from the robot chassis 200.
The multimedia display screen 120 is arranged, so that activity display, advertisement display, goods information display and the like can be performed, and consumers are attracted to carry out sales promotion. A plurality of multimedia display screens 120 can be arranged according to the requirement, for example, one multimedia display screen is respectively arranged on the front and back sides, or three multimedia display screens 120 surround a triangular surface,
referring to fig. 1, the RGBD camera 110 is preferably coupled to the multimedia display screen 120. Preferably, another RGBD camera is arranged on the robot chassis, so that low-height obstacles can be conveniently detected.
Preferably, a sound box is further mounted on the robot chassis 200 and/or the display shelf 100.
Carry on the audio amplifier and conveniently carry out human-computer interaction to and conveniently carry out advertising.
Referring to fig. 1, the collision detecting belt 330 is provided in plurality at intervals of height.
The collision detection treats that the interval height is provided with a plurality ofly, can detect the barrier of co-altitude not, avoids taking place serious collision and leads to the goods to empty scattered.
Referring to fig. 1, the display shelf 100 is divided into a plurality of layers by shelf plates 130, a sleeve hole is formed in the middle of the shelf plates 130, a support column 140 matched with the sleeve hole extends from the robot chassis 200 to the display shelf 100, and the shelf plates 130 are fixed on the support column 140 in a sleeved manner.
The shelf board 130 is arranged to facilitate the placement of goods, and the shelf board 130 divides the display shelf 100 into a plurality of layers to improve the utilization space; portions of the deck boards 130 may be added or removed as desired.
Typically, the support posts 140 may be bolted or welded directly to the deck boards 130 or may be indirectly connected by other fasteners.
Referring to fig. 1, the shelf board 130 tapers in width or diameter away from the robot chassis 200 along the support posts 140 to show the tower shape of the shelf 100.
The display shelf 100 is tower-shaped, has a stable structure, avoids the shielding of goods on the upper layer, and is convenient for displaying goods.
Referring to fig. 1, the edges of the deck boards 130 are provided with upwardly projecting fenders 131. Preventing the goods from falling.
Referring to fig. 1, a support column 140 is provided with a line hole, and a plurality of insertion holes 141 are formed on the support column at intervals of the shelf board 130.
The RGBD camera 110 or the display screen is conveniently connected with the line holes, and the jack 141 is conveniently connected with the line holes; set up jack 141, convenient expansion can install additional and expand camera, decorative lamp area or sensor etc..
Generally, the power supply and the power supply management unit can provide electric energy, the power supply management unit can output various specification voltages and can be adapted to equipment with different voltages, and therefore the expansion performance is higher. Preferably, the types of voltage specification that the power management unit can output include: 5V, 12V, 19V and 24V.
Referring to fig. 3, a microphone array sensor 340 for acoustic localization and voice interaction is also included.
The microphone array sensor 340 is arranged, so that acoustic positioning or voice interaction can be carried out, and mechanical obstacle avoidance and promotion of the goods shelf robot are facilitated. It will be appreciated that the microphone array sensor 340 is a microphone sensor that is disposed around the robot body array.
Referring to fig. 4, an infrared distance measuring sensor 350 for detecting a ground obstacle and a step is further included.
An infrared ranging sensor 350 is provided for avoiding ground obstacles and steps.
Referring to fig. 3, the robot charging system further includes an automatic charging auxiliary assembly, which includes an infrared signal receiving device array 360 disposed on the robot chassis 200, an infrared signal transmitter 410 disposed on the charging pile 400, and an ultrasonic ranging sensor 320 for assisting positioning and an electric signal after contact power on for automatic charging.
The infrared signal receiving array on the robot chassis 200 judges the orientation of the charging pile 400 according to the strength of the received infrared signal, then continuously moves the position/angle of the robot to gradually approach the charging pile 400, and finally stops moving by judging whether the first is electrified or the second is the ultrasonic distance smaller than a preset threshold value and whether the contact sensor collides.
Referring to fig. 3, the charging pile 400 has a protruding plug 420, and the robot chassis 200 is provided with a socket 220 adapted to the plug 420. Preferably, the plug 420 is gradually inclined toward the protruding direction to be smaller, so as to facilitate the butt joint. Preferably, the plug 420 is provided with an energizing contact 421.
Preferably, a status display screen 370 is also included to display the status of the robot. Typical display states include power, speed, distance traveled, etc.
Generally, the navigation obstacle avoidance system further comprises a processor, which is used for planning a path according to the detection information of the navigation obstacle avoidance detection device, controlling the power module, analyzing and processing other information, and the like.
Preferably, the processor uses the Ubuntu system and/or the ROS system. Generally, the processor may be selected from a Qualcomm cellon processor, an ARM processor, or an Intel processor.
In summary, the utility model provides a goods shelf robot sets up the RGBD camera at show goods shelf top, and the field of vision is wide, can detect the goods condition, and the RGBD camera can assist navigation and keep away the barrier simultaneously, carries out human-computer interaction, further can analyze information such as consumer's sex, age bracket, purchase commodity, realizes the analysis consumption purchasing behavior, conveniently sets up the goods classification and seeks potential customer; the navigation obstacle avoidance detection device is arranged, the laser radar, the ultrasonic ranging sensor and the collision detection belt can perform multi-azimuth and multi-dimensional detection, route planning navigation and obstacle avoidance are performed, and therefore the power assembly is guided to move; prevent empting IMU sensor, can detect the acceleration and deceleration state and the gesture of robot, avoid the too big or gesture slope of robot acceleration to empty and lead to the goods to drop, can avoid the abrupt slope route to plan again. The multimedia display screen and the sound box are arranged, so that man-machine interaction and promotion are facilitated. The specific structure of the display shelf is optimized, so that the display shelf is stable to mount, can be rapidly assembled and disassembled, and is convenient for displaying goods. An infrared distance measuring sensor is arranged for assisting in avoiding obstacles and avoiding ground steps. The automatic charging assembly is arranged, so that the robot can independently operate for a long time, and the labor cost is reduced.
The above description is only a preferred embodiment of the present invention, and the present invention is not limited to the above description in any form, and although the present invention has been disclosed with reference to the preferred embodiment, it is not limited to the present invention, and any skilled person in the art can make modifications or changes equivalent to the equivalent embodiment of the above embodiments without departing from the scope of the present invention.
Claims (10)
1. A racking robot, comprising:
the top of the display shelf is provided with an RGBD camera;
the robot chassis is connected below the display shelf and comprises a power assembly, and the power assembly comprises at least two moving wheels and a driving motor for driving the moving wheels;
the navigation obstacle avoidance detection device is arranged on the robot chassis and/or the display goods shelf and is used for planning a driving route and avoiding obstacles, and comprises a laser radar for detecting far and near obstacles, an ultrasonic ranging sensor for detecting near obstacles and a collision detection belt for detecting collision contact, wherein the collision detection belt surrounds the robot chassis and/or the display goods shelf and protrudes outwards;
and the anti-toppling IMU sensor is used for detecting acceleration, deceleration and posture of the robot.
2. The shelf robot of claim 1, wherein at least one multimedia display screen is further provided on the top of the display shelf remote from the robot chassis.
3. The shelf robot of claim 1, wherein a sound box is further mounted on the robot chassis and/or the display shelf.
4. The rack robot as claimed in claim 1, wherein the collision detection belt is provided in plural at a pitch height.
5. The shelf robot as claimed in claim 1, wherein the display shelf is divided into a plurality of layers by a shelf plate, a sleeve hole is formed in the middle of the shelf plate, a support column matched with the sleeve hole extends from the robot chassis in the direction of the display shelf, and the shelf plate is sleeved and fixed on the support column.
6. A shelving robot according to claim 5, wherein the shelf boards taper in width or diameter along the support columns away from the robot chassis, and the display shelves are tower-shaped.
7. The shelf robot as claimed in claim 5, wherein the support post has a plurality of holes, and the support post has a plurality of holes spaced from the shelf plate.
8. The shelf robot of claim 1, further comprising a microphone array sensor for audible localization and voice interaction.
9. The racking robot of claim 1 further comprising an infrared ranging sensor for detecting ground obstacles and steps.
10. The shelf robot as claimed in claim 1, further comprising an automatic charging auxiliary assembly, including an infrared signal receiving device array disposed on the robot chassis and an infrared signal transmitter disposed on the charging pile, and adapted to the ultrasonic ranging sensor for assisting positioning and the electric signal after contact and electrification for automatic charging.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920346402.5U CN209846698U (en) | 2019-03-18 | 2019-03-18 | Goods shelf robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920346402.5U CN209846698U (en) | 2019-03-18 | 2019-03-18 | Goods shelf robot |
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| Publication Number | Publication Date |
|---|---|
| CN209846698U true CN209846698U (en) | 2019-12-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920346402.5U Active CN209846698U (en) | 2019-03-18 | 2019-03-18 | Goods shelf robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114800554A (en) * | 2022-04-24 | 2022-07-29 | 佛山智优人科技有限公司 | Intelligent control's exhibition sales robot |
-
2019
- 2019-03-18 CN CN201920346402.5U patent/CN209846698U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114800554A (en) * | 2022-04-24 | 2022-07-29 | 佛山智优人科技有限公司 | Intelligent control's exhibition sales robot |
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